Trooping the Colour was made extra significant this year’s with the Princess of Wales making her return to public duties following her cancer diagnosis earlier this year.

Although she has not made a full return and – according to the royal herself – is “not out of the woods yet”, Princess Kate’s appearance bought hope to many delighted royal fans.

The Princess of Wales joined King Charles, who was also diagnosed with cancer earlier this year, and Queen Camilla for the annual Trooping the Colour in London.

Many of the day’s moments were captured on camera, with the Mirror’s lip reading expert Nicola Hickling about to pinpoint exactly what the royals were discussing upon Kate’s return.

Here Express.co.uk breaks down five moments caught on camera on Saturday.

As King Charles – who revealed his own cancer diagnosis back in February – joined the Queen in the Ascot Landau carriage on Saturday, he could be seen expressing exactly how he was feeling to his wife.

The King is understood to have been advised by doctors that he should bypass riding horseback, and instead attend the event in a carriage.

The royal is known to have previously attended the event on horseback, with Prince William, Princess Anne and Prince Edward also doing so in his absence.

According to Nicola, the King said to Camilla in the carriage: “Oh dear, I don’t know why I’m feeling rather tearful.”

The Princess of Wales gave her children a very regal instruction as they watched the military spectacle form the building overlooking the parade.

It appeared that Kate was instructing Prince George, 10, Princess Charlotte, nine, and Prince Louis, six to stay where they were as they watched on.

Issuing the instruction to her children, Nicola said that Kate could be seen saying: “You stay there, OK?”. Bending down to her daughter, Kate – according to Nicola – could be seen telling Charlotte: “Keeping smiling and stay there for one moment.”

At one point during the Military Guards Parade, Louis can be seen playing with window blinds cord as he watched on with his mum, Kate. According to Nicola, the six-year-old asked his mum: “Can I play with these beads?”

Princess Kate then told her youngest son: “No, I need you to concentrate on the parade.”

While they were in the carriage, Charlotte could also be seen giving her younger brother some advice – and one which he was not taking lightly.

According to Nicola, Charlotte told Louis: “You have to stop doing that. Watch the parade,” to which he replied: “I won’t”.

In turn, Charlotte seems to say: “Do as you’re told,” and Louis brutally added: “Nope.”

Charlotte and Louis were also joined in the carriage by mum Kate and elder brother, Prince George.

Prince Louis joined the royals on the balcony to watch the RAF flypast – along with his siblings, Charlotte and George.

According to Nicola, Kate then asked her youngest son whether he enjoyed watching the planes.

She said: “Did you like that?” to which Louis replied: “That was so much fun!”